version: 66.07
glider: 513
mission: 7
dive: 108
start: 7 20 111 19 29 2
data:
$ID,513
$MISSION,7
$DIVE,108
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,700
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-422671.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3360
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,107
$AR_SAMPLENUM,3
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,200711,190837,1948.250,-15636.305,36,1.0,37,9.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.4
$GPS2,200711,192807,1948.213,-15636.970,12,1.1,12,9.7
$SPEED_LIMITS,0.148,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.225,0.082
$KALMAN_X,-875.1,-260.5,-115.4,-11187.3,-4743.6
$KALMAN_Y,-232698.7,-42.4,543.3,249484.4,-1751.5
$MHEAD_RNG_PITCHd_Wd,60.3,62597,-15.7,-8.571
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
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$GC,3006,-0.80,-136.7,196.6,-7.3,287,3010,0.00,2.12,0.00,0.000,4,0.000,0.041,2700,679,3918,0,0,0,0,0,0
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$GC,3917,-0.80,-136.7,246.7,-5.9,331,3921,0.00,2.17,0.00,0.000,4,0.000,0.051,2704,3515,3914,0,0,0,0,0,0
$GC,4023,-0.80,-136.7,254.0,-8.7,335,4029,0.00,2.10,0.00,0.000,6,0.000,0.031,2715,2086,3913,0,0,0,0,0,0
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$GC,5750,-0.80,-136.7,363.6,-6.9,393,5755,0.00,2.12,0.00,0.000,6,0.000,0.041,2686,2089,3921,0,0,0,0,0,0
$GC,6000,-0.80,-136.7,376.4,-5.1,400,6004,0.00,2.15,0.00,0.000,4,0.000,0.054,2686,3507,3919,0,0,0,0,0,0
$GC,6027,-0.80,-136.7,378.1,-7.6,400,6031,0.00,2.10,0.00,0.000,6,0.000,0.032,2697,2083,3919,0,0,0,0,0,0
$GC,6283,-0.80,-136.7,393.1,-6.0,407,6287,0.00,2.20,0.00,0.000,4,0.000,0.056,2697,3496,3917,0,0,0,0,0,0
$GC,6372,-0.80,-136.7,401.2,-10.4,409,6376,0.00,2.08,0.00,0.000,6,0.000,0.033,2697,2090,3916,0,0,0,0,0,0
$GC,6650,-0.80,-136.7,419.9,-6.7,416,6654,0.00,2.12,0.00,0.000,4,0.000,0.042,2697,668,3913,0,0,0,0,0,0
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$GC,11174,-0.80,-136.7,727.2,-7.2,525,11180,0.00,2.10,0.00,0.000,6,0.000,0.035,2692,2091,3915,0,0,0,0,0,0
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$GC,11736,-0.80,-136.7,768.4,-6.2,539,11741,0.00,2.10,0.00,0.000,6,0.000,0.031,2702,2082,3913,0,0,0,0,0,0
$GC,11992,-0.80,-136.7,788.3,-7.6,546,11996,0.00,2.20,0.00,0.000,4,0.000,0.060,2702,3498,3912,0,0,0,0,0,0
$GC,12047,-0.80,-136.7,793.4,-9.5,547,12051,0.00,2.10,0.00,0.000,6,0.000,0.031,2702,2085,3912,0,0,0,0,0,0
$GC,12321,-0.80,-136.7,811.2,-6.2,554,12325,0.00,2.22,0.00,0.000,4,0.000,0.058,2703,3504,3912,0,0,0,0,0,0
$GC,12343,-0.80,-136.7,812.8,-6.8,554,12347,0.00,2.08,0.00,0.000,6,0.000,0.029,2714,2084,3912,0,0,0,0,0,0
$GC,12599,-0.80,-136.7,828.6,-5.7,561,12603,0.00,2.10,0.00,0.000,4,0.000,0.044,2714,688,3911,0,0,0,0,0,0
$GC,12706,-0.80,-136.7,836.6,-6.8,563,12710,0.00,2.15,0.00,0.000,6,0.000,0.045,2714,2098,3911,0,0,0,0,0,0
$GC,12978,-0.80,-136.7,853.2,-6.1,570,12982,0.00,2.12,0.00,0.000,4,0.000,0.044,2715,688,3910,0,0,0,0,0,0
$GC,13236,-0.80,-136.7,873.5,-7.0,575,13241,0.00,2.12,0.00,0.000,6,0.000,0.045,2714,2084,3912,0,0,0,0,0,0
$GC,13486,-0.80,-136.7,890.6,-6.9,582,13490,0.00,2.22,0.00,0.000,4,0.000,0.060,2715,3502,3910,0,0,0,0,0,0
$STATE,13589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13589,begin apogee
$GC,13599,-0.28,0.0,900.9,8.1,584,13715,0.38,0.00,113.22,1.163,6,0.080,0.000,2859,1949,3362,0,0,0,0,0,0
$STATE,13718,end apogee,CONTROL_FINISHED_OK
$STATE,13718,begin climb
$GC,13720,0.80,136.7,912.3,0.0,587,13849,1.00,2.30,119.60,1.125,4,0.084,0.042,3192,3379,2801,0,0,0,0,0,0
$GC,14102,0.80,136.7,813.4,35.1,595,14106,0.00,2.17,0.00,0.000,6,0.000,0.027,3201,1947,2793,0,0,0,0,0,0
$GC,14351,0.80,136.7,728.0,34.7,601,14355,0.00,2.22,0.00,0.000,4,0.000,0.041,3192,3379,2790,0,0,0,0,0,0
$GC,14609,0.80,136.7,639.6,34.4,606,14613,0.00,2.10,0.00,0.000,6,0.000,0.025,3201,1949,2794,0,0,0,0,0,0
$GC,14864,0.80,136.7,556.6,32.0,613,14868,0.00,2.20,0.00,0.000,4,0.000,0.041,3193,3390,2789,0,0,0,0,0,0
$GC,15099,0.80,136.7,480.2,31.9,618,15103,0.00,2.12,0.00,0.000,6,0.000,0.027,3201,1971,2789,0,0,0,0,0,0
$GC,15371,0.80,136.7,397.4,30.3,625,15375,0.00,2.15,0.00,0.000,4,0.000,0.041,3192,3383,2786,0,0,0,0,0,0
$GC,15388,0.80,136.7,392.1,29.7,625,15391,0.00,2.10,0.00,0.000,6,0.000,0.027,3202,1961,2788,0,0,0,0,0,0
$GC,15649,0.80,136.7,319.0,27.0,632,15652,0.00,2.15,0.00,0.000,4,0.000,0.041,3194,3382,2787,0,0,0,0,0,0
$GC,15885,0.80,136.7,258.4,23.6,640,15889,0.00,2.10,0.00,0.000,6,0.000,0.027,3201,1951,2790,0,0,0,0,0,0
$GC,16138,0.80,136.7,202.2,20.4,652,16142,0.00,2.17,0.00,0.000,4,0.000,0.043,3193,3381,2781,0,0,0,0,0,0
$GC,16222,0.80,136.7,185.6,21.1,659,16226,0.00,2.08,0.00,0.000,6,0.000,0.025,3202,1959,2786,0,0,0,0,0,0
$GC,16487,0.80,136.7,138.1,18.3,683,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1954,2788,0,0,0,0,0,0
$GC,16750,0.80,136.7,89.6,17.4,708,16754,0.00,2.17,0.00,0.000,4,0.000,0.041,3193,3394,2785,0,0,0,0,0,0
$GC,16997,0.80,136.7,55.8,11.4,730,17005,0.00,2.10,0.00,0.000,6,0.000,0.025,3202,1952,2785,0,0,0,0,0,0
$GC,17264,0.91,226.6,37.6,4.8,755,17338,0.12,2.08,68.40,0.533,4,0.114,0.030,3254,579,2435,0,0,0,0,0,0
$GC,17406,0.91,226.6,12.5,30.7,773,17414,0.00,2.12,0.00,0.000,6,0.000,0.030,3246,1970,2429,0,0,0,0,0,0
$STATE,17440,end climb,SURFACE_DEPTH_REACHED
$STATE,17441,begin surface coast
$FINISH,0.2,1.022935
$STATE,17447,end surface coast,CONTROL_FINISHED_OK
$STATE,17447,begin surface
$SM_CCo,17529,0.00,0.000,0,0,2426,229.11
$SM_GC,1.72,8.60,0.00,0.00,0.053,0.000,0.000,61,2108,2426,-8.98,0.51,229.11
$IRIDIUM_FIX,1938.95,-15636.66,120113,131346
$TT8_MAMPS,0.25311
$HUMID,1079004282
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,22.50
$XPDR_PINGS,101
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,4028268544
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58630176768
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.1,14.650
$10V_AH,10.0,14.756
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.625,204.550,301.225,0.000,0.000,58.495,66.476,757.043,25.250,0.000,14.269,1685.641,12105.012,420.132,3864.532,636.883,33.370,1724.360,0.000,3069.341,0.000,0.541,0.000
$DEVICE_MAMPS,253.877,79.001,1162.772,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,532.942,0.000,1374.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,40207,780
$CAP_FILE_SIZE,195248,0
$CFSIZE,260165632,198270976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,002720,1948.349,-15638.557,280,2.1,300,9.7